Ethan Zohn & Jenna Morasca: Will They Get Engaged on The Amazing Race?

Ethan Zohn and Jenna Morasca have been through a lot in the eight years they've been together, including his battle against Hodgkin's disease and the death of her mother to cancer.

Now the Survivor champs (he's the winner of Survivor: Africa and she won in the Amazon) just want to escape from the day-to-day – and possibly take the next step in their relationship.

Zohn, 37, and Morasca, 30, will compete against 10 other teams on the fall season of The Amazing Race, which premieres Sept. 25 on CBS, and it just might be right time for the couple to become engaged.

"He says that if he feels so moved on the Race that it's possible," Morasca says of a proposal. "It is definitely something that we think about!"

"If we're repelling off the Eiffel Tower and I can get to a zip tie and make it into the form of a ring, I might put it on her finger," Zohn says.

But more than anything, the couple are just happy to be healthy and traveling the world with hopes of winning $1 million.

"I am feeling great," Zohn tells PEOPLE. "The cancer is still in remission and it will be forever, and I am real excited about that. That's really one of the reasons why I'm personally doing the Race, because from where I was last year, in a hospital room attached to a pump, no matter what happens out there, it's going to be okay because it's a celebration of life. And I get to travel around the world with the woman that I love."

As for working together as a team in a high-stakes competition, Morasca is feeling the stress that goes with it. "I've done things as an individual and I've put a lot of pressure on myself to kind of not let Ethan down and live up to my end of the bargain," she says.

And they're wasting no time in preparing for the Race. "I actually borrowed my friend's mother's car on several occasions to teach Jenna how to drive manual," says Zohn.

"Ethan's really good at it, so, but he's not really a good driver, which is unfortunate," Morasca says. "I'm actually a much better driver. He's really slow, so I'm hoping he won't have to drive that much."

In addition to The Amazing Race, the couple will appear this fall, starting Sept. 3, on Everyday Health, which also stars Laila Ali, on ABC affiliates.

"[The public] never really have seen Jenna and I interact together," Zohn says. "They've seen us on Survivor and maybe some interviews but they have never seen a day in the life, but it will be fun for them now to see us as a couple."

For more on Jenna and Ethan, and other long-lasting reality TV couples, pick up the latest copy of PEOPLE on newsstands now